function res = lstraight_results
 res = ... 
 { ... 
	struct('axle', 0.0890519, ... 
	 'l_diam', 0.0417709, ... 
	 'r_diam', 0.0418957, ... 
	 'l_x', -0.00581279, ... 
	 'l_y', 0.000185606, ... 
	 'l_theta', 0.00949588, ... 
	 'E_d', 1.00299, ... 
	 'E_b', 0.989465, ... 
	 'covariance', [2.40635e-09, 2.35815e-09, 1.0142e-08, 6.94695e-13, -2.83484e-11, -4.68241e-10;  2.35815e-09, 2.42122e-09, 1.01746e-08, 7.69756e-13, 9.22658e-11, -8.18211e-10;  1.0142e-08, 1.01746e-08, 4.38323e-08, -3.48432e-11, 1.38396e-10, -2.73703e-09;  6.94695e-13, 7.69756e-13, -3.48432e-11, 5.62752e-09, -8.53495e-11, 1.44416e-10;  -2.83484e-11, 9.22658e-11, 1.38396e-10, -8.53495e-11, 1.26646e-08, -1.45311e-08;  -4.68241e-10, -8.18211e-10, -2.73703e-09, 1.44416e-10, -1.45311e-08, 2.44109e-06])... 
 }; 
